MissionFeasibilityChecker Class Reference

#include <mission_feasibility_checker.h>

Collaboration diagram for MissionFeasibilityChecker:

Public Member Functions
	MissionFeasibilityChecker (Navigator *navigator)
	~MissionFeasibilityChecker ()=default
	MissionFeasibilityChecker (const MissionFeasibilityChecker &)=delete
MissionFeasibilityChecker &	operator= (const MissionFeasibilityChecker &)=delete
bool	checkMissionFeasible (const mission_s &mission, float max_distance_to_1st_waypoint, float max_distance_between_waypoints, bool land_start_req)

Private Member Functions
bool	checkGeofence (const mission_s &mission, float home_alt, bool home_valid)
bool	checkHomePositionAltitude (const mission_s &mission, float home_alt, bool home_alt_valid, bool throw_error)
bool	checkMissionItemValidity (const mission_s &mission)
bool	checkDistanceToFirstWaypoint (const mission_s &mission, float max_distance)
bool	checkDistancesBetweenWaypoints (const mission_s &mission, float max_distance)
bool	checkFixedwing (const mission_s &mission, float home_alt, bool land_start_req)
bool	checkTakeoff (const mission_s &mission, float home_alt)
bool	checkFixedWingLanding (const mission_s &mission, bool land_start_req)
bool	checkRotarywing (const mission_s &mission, float home_alt)

Private Attributes
Navigator *	_navigator {nullptr}

Detailed Description

Definition at line 51 of file mission_feasibility_checker.h.

Constructor & Destructor Documentation

MissionFeasibilityChecker() [1/2]

MissionFeasibilityChecker::MissionFeasibilityChecker ( Navigator *  navigator )

inline

Definition at line 75 of file mission_feasibility_checker.h.

References checkMissionFeasible(), operator=(), and ~MissionFeasibilityChecker().

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~MissionFeasibilityChecker()

MissionFeasibilityChecker::~MissionFeasibilityChecker ( )

default

Referenced by MissionFeasibilityChecker().

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MissionFeasibilityChecker() [2/2]

MissionFeasibilityChecker::MissionFeasibilityChecker ( const MissionFeasibilityChecker &  )

delete

Member Function Documentation

checkDistancesBetweenWaypoints()

bool MissionFeasibilityChecker::checkDistancesBetweenWaypoints ( const mission_s &  mission, float  max_distance  )

private

Definition at line 570 of file mission_feasibility_checker.cpp.

References _navigator, mission_s::count, mission_s::dataman_id, dm_read(), f(), get_distance_to_next_waypoint(), Navigator::get_mavlink_log_pub(), Navigator::get_mission_result(), MissionBlock::item_contains_position(), mission_item_s::lat, mission_item_s::lon, mavlink_log_critical, mavlink_log_info, and mission_result_s::warning.

Referenced by checkMissionFeasible().

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checkDistanceToFirstWaypoint()

bool MissionFeasibilityChecker::checkDistanceToFirstWaypoint ( const mission_s &  mission, float  max_distance  )

private

Definition at line 522 of file mission_feasibility_checker.cpp.

References _navigator, mission_s::count, mission_s::dataman_id, dm_read(), f(), get_distance_to_next_waypoint(), Navigator::get_home_position(), Navigator::get_mavlink_log_pub(), Navigator::get_mission_result(), MissionBlock::item_contains_position(), home_position_s::lat, mission_item_s::lat, home_position_s::lon, mission_item_s::lon, mavlink_log_critical, mavlink_log_info, and mission_result_s::warning.

Referenced by checkMissionFeasible().

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checkFixedwing()

bool MissionFeasibilityChecker::checkFixedwing ( const mission_s &  mission, float  home_alt, bool  land_start_req  )

private

Definition at line 108 of file mission_feasibility_checker.cpp.

References checkFixedWingLanding(), and checkTakeoff().

Referenced by checkMissionFeasible().

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checkFixedWingLanding()

bool MissionFeasibilityChecker::checkFixedWingLanding ( const mission_s &  mission, bool  land_start_req  )

private

Definition at line 403 of file mission_feasibility_checker.cpp.

References _navigator, mission_item_s::altitude, mission_s::count, mission_s::dataman_id, dm_read(), get_distance_to_next_waypoint(), Navigator::get_mavlink_log_pub(), Landingslope::getLandingSlopeAbsoluteAltitude(), Landingslope::getLandingSlopeWPDistance(), MissionBlock::item_contains_position(), mission_item_s::lat, mission_item_s::lon, mavlink_log_critical, mission_item_s::nav_cmd, NAV_CMD_DO_LAND_START, NAV_CMD_LAND, and ORB_ID.

Referenced by checkFixedwing().

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checkGeofence()

bool MissionFeasibilityChecker::checkGeofence ( const mission_s &  mission, float  home_alt, bool  home_valid  )

private

Definition at line 119 of file mission_feasibility_checker.cpp.

References _navigator, Geofence::check(), mission_s::count, mission_s::dataman_id, dm_read(), Navigator::get_geofence(), Navigator::get_mavlink_log_pub(), Geofence::isHomeRequired(), MissionBlock::item_contains_position(), mavlink_log_critical, and Geofence::valid().

Referenced by checkMissionFeasible().

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checkHomePositionAltitude()

bool MissionFeasibilityChecker::checkHomePositionAltitude ( const mission_s &  mission, float  home_alt, bool  home_alt_valid, bool  throw_error  )

private

Definition at line 157 of file mission_feasibility_checker.cpp.

References _navigator, mission_item_s::altitude, mission_item_s::altitude_is_relative, mission_s::count, mission_s::dataman_id, dm_read(), Navigator::get_mavlink_log_pub(), Navigator::get_mission_result(), MissionBlock::item_contains_position(), mavlink_log_critical, and mission_result_s::warning.

Referenced by checkMissionFeasible().

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checkMissionFeasible()

bool MissionFeasibilityChecker::checkMissionFeasible	(	const mission_s &	mission,
		float	max_distance_to_1st_waypoint,
		float	max_distance_between_waypoints,
		bool	land_start_req
	)

Definition at line 57 of file mission_feasibility_checker.cpp.

References _navigator, home_position_s::alt, checkDistancesBetweenWaypoints(), checkDistanceToFirstWaypoint(), checkFixedwing(), checkGeofence(), checkHomePositionAltitude(), checkMissionItemValidity(), checkRotarywing(), Navigator::get_home_position(), Navigator::get_mavlink_log_pub(), Navigator::get_vstatus(), Navigator::home_alt_valid(), Navigator::home_position_valid(), vehicle_status_s::is_vtol, mavlink_log_info, and vehicle_status_s::vehicle_type.

Referenced by Mission::check_mission_valid(), and MissionFeasibilityChecker().

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checkMissionItemValidity()

bool MissionFeasibilityChecker::checkMissionItemValidity ( const mission_s &  mission )

private

Definition at line 208 of file mission_feasibility_checker.cpp.

References _navigator, mission_s::count, mission_s::dataman_id, dm_read(), Navigator::get_land_detected(), Navigator::get_mavlink_log_pub(), vehicle_land_detected_s::landed, mavlink_log_critical, mission_item_s::nav_cmd, NAV_CMD_DELAY, NAV_CMD_DO_CHANGE_SPEED, NAV_CMD_DO_DIGICAM_CONTROL, NAV_CMD_DO_JUMP, NAV_CMD_DO_LAND_START, NAV_CMD_DO_MOUNT_CONFIGURE, NAV_CMD_DO_MOUNT_CONTROL, NAV_CMD_DO_SET_CAM_TRIGG_DIST, NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL, NAV_CMD_DO_SET_HOME, NAV_CMD_DO_SET_ROI, NAV_CMD_DO_SET_ROI_LOCATION, NAV_CMD_DO_SET_ROI_NONE, NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET, NAV_CMD_DO_SET_SERVO, NAV_CMD_DO_TRIGGER_CONTROL, NAV_CMD_DO_VTOL_TRANSITION, NAV_CMD_IDLE, NAV_CMD_IMAGE_START_CAPTURE, NAV_CMD_IMAGE_STOP_CAPTURE, NAV_CMD_LAND, NAV_CMD_LOITER_TIME_LIMIT, NAV_CMD_LOITER_TO_ALT, NAV_CMD_LOITER_UNLIMITED, NAV_CMD_RETURN_TO_LAUNCH, NAV_CMD_SET_CAMERA_MODE, NAV_CMD_TAKEOFF, NAV_CMD_VIDEO_START_CAPTURE, NAV_CMD_VIDEO_STOP_CAPTURE, NAV_CMD_VTOL_LAND, NAV_CMD_VTOL_TAKEOFF, NAV_CMD_WAYPOINT, mission_item_s::params, and PWM_DEFAULT_MAX.

Referenced by checkMissionFeasible().

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checkRotarywing()

bool MissionFeasibilityChecker::checkRotarywing ( const mission_s &  mission, float  home_alt  )

private

Definition at line 98 of file mission_feasibility_checker.cpp.

References checkTakeoff().

Referenced by checkMissionFeasible().

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checkTakeoff()

bool MissionFeasibilityChecker::checkTakeoff ( const mission_s &  mission, float  home_alt  )

private

Definition at line 290 of file mission_feasibility_checker.cpp.

References _navigator, mission_item_s::acceptance_radius, mission_item_s::altitude, mission_item_s::altitude_is_relative, mission_s::count, mission_s::dataman_id, dm_read(), f(), Navigator::get_default_acceptance_radius(), Navigator::get_land_detected(), Navigator::get_mavlink_log_pub(), Navigator::get_takeoff_required(), vehicle_land_detected_s::landed, mavlink_log_critical, mission_item_s::nav_cmd, NAV_CMD_DELAY, NAV_CMD_DO_CHANGE_SPEED, NAV_CMD_DO_DIGICAM_CONTROL, NAV_CMD_DO_JUMP, NAV_CMD_DO_LAND_START, NAV_CMD_DO_MOUNT_CONFIGURE, NAV_CMD_DO_MOUNT_CONTROL, NAV_CMD_DO_SET_CAM_TRIGG_DIST, NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL, NAV_CMD_DO_SET_HOME, NAV_CMD_DO_SET_ROI, NAV_CMD_DO_SET_ROI_LOCATION, NAV_CMD_DO_SET_ROI_NONE, NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET, NAV_CMD_DO_SET_SERVO, NAV_CMD_DO_TRIGGER_CONTROL, NAV_CMD_DO_VTOL_TRANSITION, NAV_CMD_IDLE, NAV_CMD_IMAGE_START_CAPTURE, NAV_CMD_IMAGE_STOP_CAPTURE, NAV_CMD_SET_CAMERA_MODE, NAV_CMD_TAKEOFF, NAV_CMD_VIDEO_START_CAPTURE, NAV_CMD_VIDEO_STOP_CAPTURE, and NAV_EPSILON_POSITION.

Referenced by checkFixedwing(), and checkRotarywing().

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operator=()

MissionFeasibilityChecker& MissionFeasibilityChecker::operator= ( const MissionFeasibilityChecker &  )

delete

Referenced by MissionFeasibilityChecker().

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Member Data Documentation

_navigator

Navigator* MissionFeasibilityChecker::_navigator {nullptr}

private

Definition at line 54 of file mission_feasibility_checker.h.

Referenced by checkDistancesBetweenWaypoints(), checkDistanceToFirstWaypoint(), checkFixedWingLanding(), checkGeofence(), checkHomePositionAltitude(), checkMissionFeasible(), checkMissionItemValidity(), and checkTakeoff().

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The documentation for this class was generated from the following files:

• src/modules/navigator/mission_feasibility_checker.h
• src/modules/navigator/mission_feasibility_checker.cpp